Vehicle control apparatus and vehicle control method

ABSTRACT

Based on a detection information from a plurality of sensors detecting a surrounding object in different fashions, a vehicle control apparatus configured to perform vehicle control for avoiding or mitigating a collision with the object determines an occurrence of a detection capability impaired state in which a detection capability for detecting the object is impaired at any of sensors, based on the detection information about the sensor or the other sensors. The vehicle control apparatus shortens an actuation time until implementing the vehicle control, in comparison with a time when the sensor detects the object without causing the detection capability impaired state, if the object is detected by the sensor in which the detection capability impaired state has been eliminated within a predetermined time after determining that the detection capability impaired state has been eliminated.

TECHNICAL FIELD

The present disclosure relates to a vehicle control technology thatdetects an object around an own vehicle using a plurality of sensors andperforms vehicle control depending on a collision probability betweenthe detected object and the own vehicle.

BACKGROUND ART

A vehicle control apparatus is required to predict a collisionprobability between an own vehicle and an object therearound at an earlystage. On the other hand, if the collision probability is not accuratelypredicted, this leads to increase in unnecessary vehicle control(unwanted control). In the conventional apparatus, inhibiting theunnecessary vehicle control by performing statistical processing of atrajectory of an object and thereby improving detection accuracy of anobject position is known.

However, if an object appears suddenly from behind a shielding object,when performing the statistical processing for the trajectory of theobject, a determination of a collision may occur too late.

In Patent Literature 1, in the state in which an object is hidden by ashielding object (hidden state), a time available for determining acollision with the object is shortened in comparison with a case inwhich the object has not been in the hidden state. Thereby, in PatentLiterature 1, the probability of a collision with the object in thehidden state is determined more rapidly.

CITATION LIST Patent Literature

[PLT 1] JP 2014-213776 A

SUMMARY OF THE INVENTION Technical Problem

If a plurality of sensors detect an object, there is a possibility thata detection capability impaired state (undesirable scenario) may occurin which a detection capability for detecting the object is impaired foreach sensor. The hidden state described in the conventional art can beconsidered as one of phenomena occurring due to an undesirable situationaround the sensor.

For example, if the detection capability impaired state of a sensor hasoccurred, the sensor can not detect an object. In this case, it isthought that the object can be detected by the sensor, in associationwith the elimination of an undesirable scenario. However, depending onsensors, even if the undesirable scenario is eliminated, there is apossibility that the object cannot be detected. At this time, vehiclecontrol is unnecessary.

Therefore, as described in Patent Literature 1, if the time availablefor the collision determination is shortened on the basis of only thecondition that the undesirable scenario of the sensor is eliminated,unnecessary vehicle control related to the object is performed.

The purpose of the present disclosure is to provide a vehicle controlapparatus that can prevent unnecessary vehicle control related to anobject, and a vehicle control method that is performed by the vehiclecontrol apparatus.

Solution to Problem

The vehicle control apparatus in the present disclosure applied to avehicle includes a plurality of detection units (20) detecting, indifferent fashions, an object existing around an own vehicle (50), andimplementing vehicle control for avoiding or mitigating a collision withthe object based on detection information from the plurality ofdetection units, the vehicle control apparatus including a firstdetermination unit, a second determination unit, and an actuationcontrol unit. The first determination unit determines an occurrence of adetection capability impaired state in which a detection capability fordetecting the object is impaired at any of the detection units among theplurality of the detection units, based on the detection informationfrom the detection unit or the other detection units. The seconddetermination unit determines whether or not the detection capabilityimpaired state has been eliminated after the first determination unitdetermines the occurrence of the detection capability impaired state.The actuation control unit shortens an actuation time until implementingthe vehicle control for avoiding or mitigating the collision, incomparison with a time when the detection unit detects the object andthe detection capability impaired state has not previously occurred, ifthe object is detected by the detection unit in which the detectioncapability impaired state has been eliminated within a predeterminedtime after the second determination unit determines that the detectioncapability impaired state has been eliminated.

The vehicle control apparatus in the present disclosure shortens theactuation time until implementing the vehicle control (that is, the timeavailable for the determination of the collision with the object), onthe basis of the condition where the detection unit, in which thedetection capability impaired state has been eliminated, detects theobject within the predetermined time after the detection capabilityimpaired state of the detection unit was eliminated. In particular, ifthe detection unit in which the detection capability impaired state hasbeen eliminated detects the object, the vehicle control apparatusshortens the actuation time until implementing the vehicle control foravoiding or mitigating the collision to the object in comparison withthe time when the detection unit detects the object without havingsuffered any detection capability impaired state. Thereby, the vehiclecontrol apparatus in the present disclosure can prevent unnecessaryvehicle control related to the object when the detection capabilityimpaired state of the detection unit has been eliminated.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a vehicle control apparatus.

FIG. 2 is a flowchart of a collision determination processing.

FIG. 3A is a view illustrating an execution example of a collisiondetermination process.

FIG. 3B is a view illustrating an execution example of a collisiondetermination process.

FIG. 4A is a view illustrating an execution example of a collisiondetermination process.

FIG. 4B is a view illustrating an execution example of a collisiondetermination process.

FIG. 5A is a view illustrating an execution example of a collisiondetermination process.

FIG. 5B is a view illustrating an execution example of a collisiondetermination process.

FIG. 6A is a view illustrating an execution example of a collisiondetermination process.

FIG. 6B is a view illustrating an execution example of a collisiondetermination process.

FIG. 7 is a view illustrating an execution example of a collisiondetermination process.

FIG. 8 is a view illustrating an example of an actuation time setting.

DESCRIPTION OF THE EMBODIMENTS

Embodiments will be described with reference to the drawings. In thefollowing embodiments, the same reference numerals refer to the same orequivalent parts throughout the drawings, and further descriptionthereof is omitted.

A vehicle control apparatus 100 according to the present embodiment ismounted in a vehicle (own vehicle), and detects an object existingaround a front side and so on in a traveling detection of the ownvehicle. The vehicle control apparatus 100 performs various types ofcontrols for avoiding or alleviating a collision between the detectedobject and the own vehicle. In this manner, the vehicle controlapparatus 100 according to the present embodiment functions as a PCS(Pre-Crash Safety system).

FIG. 1 is a block diagram of a vehicle control apparatus 100 accordingto the present embodiment. As illustrated in FIG. 1, the vehicle controlapparatus 100 according to the present embodiment includes an ECU 10,various types of sensors 20, a controlled target 30, and so on.

The various types of sensors 20 include, for example, an image sensor21, a radar sensor 22, a yaw rate sensor 23, a vehicle speed sensor 24,and so on. The various types of sensors 20 function as a plurality ofdetection units mounted in the vehicle.

The image sensor 21 is constituted with, for example, a CCD camera, amonocular camera, a stereo camera, and so on, and is provided at apredetermined height in a center portion in a width direction of the ownvehicle (that is, in the vicinity of an upper side of a windshield, andso on). The image sensor 21 images a region that spreads over a range ina predetermined angle toward a front side of the own vehicle (that is,an image-capturable region) for each predetermined time, and acquires acaptured image from an overhead view point. The image sensor 21 performspredetermined image processing on the captured image. Thereby, the imagesensor 21 acquires, as target information, a shape (size) of the objectdetected in front of the own vehicle, a distance between the own vehicleand the object (that is, a relative position and a relative distance),and so on. The target information acquired by image sensor 21 is inputto the ECU 10. Note that the image sensor 21 functions as a seconddetection unit that detects an object existing around the own vehicle byimage processing of the captured image.

The image sensor 21 performs predetermined image processing such astemplate matching for the captured image. Thereby, the image sensor 21identifies predetermined types of object (for example, other vehicle,pedestrian, obstruction in the road, and so on) existing within adetection range (within an angle of view). In the present embodiment,the present apparatus has a plurality of dictionary data items includingan image pattern indicating the characteristics of each object (that is,image pattern data), as a template for identifying the type (kind) ofeach object. This dictionary data is stored in a predetermined storagearea of a storage device included in the vehicle control apparatus 100.Note that the dictionary data such as entire dictionary data and partialdictionary data is stored in the storage area, wherein the entiredictionary data is data in which patterned entire characteristics of theobject is stored, and the partial dictionary data is data in whichpartial characteristics of the object are stored. The information aboutthe type of the object recognized by image sensor 21 is input to the ECU10.

The radar sensor 22 detects the object in front of the own vehicle,using, for example, electromagnetic waves having directionalcharacteristics such as millimeter waves, a laser, and so on. The radarsensor 22 is provided at a front end portion of the own vehicle. An axisof the radar is set so as to direct it in front of the own vehicle. Theradar sensor 22 transmits probe waves for each predetermined time to aregion that spreads over a range in a predetermined angle toward thefront side of the own vehicle (that is, a detectable region), and scansthe region with a radar signal. As the result, the radar sensor 22receives electromagnetic waves reflected from a surface of an objectoutside the vehicle (that is, reflected waves that are reflected fromthe object). Based on the receiving result, the radar sensor 22 acquiresthe distance and the speed of the object relative to the own vehicle(that is, a relative position, a relative distance, and a relativespeed) and so on, as the target information. The target informationacquired by radar sensor 22 is input to the ECU 10. Note that the radarsensor 22 functions as a first detection unit that detects the objectexisting around the own vehicle, using the reflected waves.

The yaw rate sensor 23 detects a turning angle speed (that is, yaw rate)of the own vehicle. The vehicle speed sensor 24 detects a travelingspeed of the own vehicle (that is, a vehicle speed) based on arevolution speed of the wheels. The detection results obtained by thesesensors 23, 24 are input to the ECU 10.

The ECU 10 is an electronic control unit that performs control over theentirety of the vehicle control apparatus 100. The ECU 10 includes aCPU, memory (for example, ROM, RAM, and so on), I/O, and so on. The ECU10 provides each function for vehicle control. The ECU 10 realizes eachfunction, for example, by executing a program installed in the ROM,using the CPU. Each function included in the ECU 10 is described asfollows. The ECU 10 functions as, for example, a recognition unit,recognizing an object, a determination unit, determining a collisionprobability with the object, a control processing unit, controllingactuation of the controlled target 30, and so on. The ECU 10 recognizesthe object (for example, other vehicle, pedestrian, obstruction in theroad, and so on) in front of the own vehicle, based on the information(detection results) input from the image sensor 21 and radar sensor 22.In particular, the ECU 10 fuses target information obtained from theimage sensor 21 (first position information) and target informationobtained from the radar sensor 22 (second position information), as afusion object. At that time, the ECU 10 relates each item of informationabout objects located near each other as the position information of thesame object. For example, if a position indicated in the above secondposition information exists near a position indicated in the above firstposition information, it is highly probable that the object actuallyexists at the position indicated in the first position information. Inthis manner, a state in which the image sensor 21 and radar sensor 22acquire precisely the position of the object, is said to be a “fusionstate”. Thereby, the ECU 10 recognizes the object based on the fusionresult. That is, the ECU 10 functions as the object recognition unitthat recognizes the object by fusing a plurality of items of theposition information. In addition, the ECU 10 determines whether or notthe own vehicle may collide with the recognized object (that is, thecollision probability). As the result, if the ECU 10 determines that thecollision probability is high, the ECU 10 actuates the controlled target30 of as a safety apparatus and so on for avoiding or mitigating thecollision of the own vehicle with the object.

The controlled target 30 is, for example, a speaker, a seat belt, abrake, and so on. If the ECU 10 determines that the probability is highin which the own vehicle collides with the object, the ECU 10 performsthe following controls over each of controlled target 30. For example,the ECU 10 controls the actuation of the speaker so as to transmit analarm (that is, notify a risk) to a driver. In addition, the ECU 10controls the actuation of the seat belt by tightening the belt, so as toprotect the driver from impact in the collision. Furthermore, the ECU 10controls the actuation of the brake so as to reduce collision speed by abraking assistance function, an automatic braking function, and so on.In this manner, the ECU 10 controls the actuation of the controlledtarget 30 such as the safety apparatus for avoiding or mitigating thecollision of the own vehicle with the object.

In order to avoid or mitigate the collision of the own vehicle with theobject, it is required to determine the collision probability betweenthe own vehicle and the object at an early stage. On the other hand, ifthe collision probability is not accurately determined, this leads toincrease in unnecessary vehicle control (that is, unwanted control). Inthe conventional apparatus, by calculating a trajectory of an objectwith statistical processing to improve detection accuracy of the objectposition, improvement of determination accuracy of the collisionprobability has been sought.

However, for an object in front of the own vehicle, the following statusis also possible. For example, it is possible that two objects exist infront of the own vehicle. It may be assumed that one of the two objectsis a moving object, and the other is a shielding object that shields themoving object. In this case, a sudden change of status may occur inwhich the moving object suddenly appears from behind the shieldingobject. In that case, when performing the statistical processing of thetrajectory of the moving object, the determination of the collisionprobability may occur too late. In the conventional apparatus, as a casein which the moving object is hidden by the shielding object(hereinafter, referred to as a hidden state) and so on, a time availablefor the determination of the collision with the object is shortened incomparison with the case in which the object has not been in the hiddenstate. Thereby, the risk of the collision with the object in the hiddenstate is determined more rapidly.

On the other hand, in each of the sensors 20 used in the detection ofthe object, a detection capability impaired state (hereinafter, referredto as “an undesirable scenario”, for convenience) may occur in which adetection capability for detecting the object is impaired depending onthe characteristic. Thereby, in this undesirable scenario, if theplurality of sensors 20 detect the object, the detection capability fordetecting the object is also impaired. Note that “the detectioncapability for detecting the object” herein means a detection accuracywhen any one of the sensors 20 detects the object, a probability whetheror not any one of the sensors 20 can detect the object, and so on.

For example, if the moving object is in the hidden state, the radarsensor 22 cannot detect a difference between the shielding object andthe moving object. Thereby, the status in which the moving object ishidden is regarded as an undesirable scenario of the radar sensor 22.Therefore, in the undesirable scenario of the radar sensor 22, only theimage sensor 21 can detect the object.

If the undesirable scenario of any of the sensors 20 is eliminated, itis thought that any of the sensors 20 can detect the object that couldnot be detected in the undesirable scenario. However, depending on eachof the sensors 20, even if the undesirable scenario is eliminated, theobject that was not detected in the undesirable scenario cannotnecessarily be detected. Therefore, based on only the condition in whichthe undesirable scenario of any of the sensors 20 is eliminated, if theactuation time until implementing the vehicle control is shortened, thevehicle control for avoiding or mitigating the collision to the objectmay be performed, regardless of the low collision probability betweenthe own vehicle and the object. That is, the conventional apparatus mayperform unnecessary vehicle control related to the object.

The object with the possibility of colliding with the own vehicle has acharacteristic where any of the sensors 20, in which the undesirablescenario is eliminated, detects the object immediately before thecollision with the own vehicle. The vehicle control apparatus 100according to the present embodiment shortens the time available formaking the collision determination (that is, the actuation time untilimplementing the vehicle control), under the condition in which theobject that was not detected in the undesirable scenario of any of thesensors 20 is detected in association with the elimination of theundesirable scenario of any of the sensors 20.

In particular, the vehicle control apparatus 100 shortens the timeavailable for making the collision determination (that is, performs atime shortening processing so as the collision determination can beexecuted faster), if any of the sensors 20 detects the object that wasnot detected in the undesirable scenario (that is, before theelimination thereof), within the predetermined time after theundesirable scenario of any of the sensors 20 is eliminated. On theother hand, the vehicle control apparatus 100 does not shorten the timeavailable for making the collision determination (that is, does notperform the time shortening processing), if any of the sensors 20 doesnot detect the object that was previously not detected in theundesirable scenario, within the predetermined time after theundesirable scenario of any of the sensors 20 is eliminated. In thismanner, the vehicle control apparatus 100 according to the presentembodiment prevents unnecessary vehicle control related to the objecthaving the low probability of the collision with the own vehicle. Notethat the value of the above “predetermined time” is a value (that is, areference value) calculated based on, for example, experimentation andso on. This value may be preset.

In the above-mentioned example, the vehicle control apparatus 100shortens the time available for making the collision determination, ifthe radar sensor 22 detects the object that was previously not detectedin the undesirable scenario, within the predetermined time after theundesirable scenario of the radar sensor 22 is eliminated. That is, inthe present embodiment, the vehicle control apparatus 100 performs thetime shortening of the collision determination, if the radar sensor 22detects the object that was detected by only the image sensor 21 withinthe predetermined time after the elimination of the undesirablescenario. On the other hand, the vehicle control apparatus 100 does notshorten the time available for making the collision determination, ifthe radar sensor 22 does not detect the object that was previously notdetected in the undesirable scenario, within the predetermined timeafter the undesirable scenario of the radar sensor 22 is eliminated.That is, in the present embodiment, the vehicle control apparatus 100does not perform the time shortening of the collision determination, ifthe radar sensor 22 does not detect the object that was detected by onlythe image sensor 21 within the predetermined time after the eliminationof the undesirable scenario.

Next, the collision determination processing (the determinationprocessing in calculating the collision determination) executed by thevehicle control apparatus 100 according to the present embodiment, isdescribed with reference to FIG. 2. This processing is executed by theECU 10 included in the vehicle control apparatus 100, for eachpredetermined period (for example, about 50 ms), which is preset.

In FIG. 2, the vehicle control apparatus 100 detects the object existingaround the front side in the traveling detection of the own vehicle(S11). At that time, the vehicle control apparatus 100 fuses the targetinformation obtained from the image sensor 21 and the target informationobtained from the radar sensor 22, as the fusion object, and detects theobject. Note that, if the target information is obtained from onlyeither one of the image sensor 21 and the radar sensor 22, the vehiclecontrol apparatus 100 detects the object using the target informationwhich was obtained.

Next, the vehicle control apparatus 100 recognizes the object to bedetected (S12). At that time, the vehicle control apparatus 100 performstemplate matching for identifying the object in the captured image,using the dictionary data such as the partial dictionary data, theentire dictionary data, and so on that are prestored in thepredetermined storage area such as, for example, the ROM. Thereby, thevehicle control apparatus 100 identifies the type (kind) of the object.In addition, the vehicle control apparatus 100 links a previousrecognition record of the object with a current recognition result ofthe object, and stores that data in the predetermined storage area suchas, for example, the RAM.

Next, the vehicle control apparatus 100 determines whether or not acurrent detection status (that is, a detection condition) of the objectis in the undesirable scenario (that is, the detection capabilityimpaired state) (S13) of the radar sensor 22 or the image sensor 21.Note that the undesirable scenario is predefined, for each of thesensors 20. Therefore, under the predetermined detection condition, ifonly the image sensor 21 detects the object and if the radar sensor 22does not detect the object, this detection condition corresponds to thecondition of an undesirable scenario of the radar sensor 22. On theother hand, under the predetermined detection condition, if only theradar sensor 22 detects the object and the image sensor 21 does notdetect the object, this detection condition corresponds to the conditionof an undesirable scenario of the image sensor 21. In this manner, thevehicle control apparatus 100 presets the above conditions as acondition of the undesirable scenario for each of the sensors 20 (thatis, an occurrence condition), and identifies the above undesirablescenario based on those settings. Note that the condition of theundesirable scenario of the radar sensor 22 or the image sensor 21 isnot limited to the above conditions. For example, both the radar sensor22 and the image sensor 21 may detect the object. If one of the resultsthereof is a detection result in the non-hidden state, and the otherresult is a detection result in the hidden state, the condition in thoseresults may be set as the condition of the undesirable scenario of theradar sensor 22 or the image sensor 21.

If the vehicle control apparatus 100 determines the detection status asthe undesirable scenario in the above determination processings (S13:YES), it turns on an undesirable flag (S14). On the other hand, if thevehicle control apparatus 100 determines the detection status as thenon-undesirable scenario in the above determination processings (S13:NO), it turns off the undesirable flag (S15). Note that the “undesirableflag” herein is indicated by ON and OFF states of the flag, as towhether or not the current detection status of the object is in theundesirable scenario of any of the sensors 20, and as to whether or notthe undesirable scenario has been eliminated. That is, the ECU 10executes the processing from the steps S13 to S15, and thereby functionsas a first determination unit that determines whether or not thedetection status of the object is in the undesirable scenario of any ofthe sensors 20. In addition, the ECU 10 functions as a seconddetermination unit that determines whether or not the undesirablescenario has been eliminated.

When the undesirable flag is turned off, the vehicle control apparatus100 measures an elapsed time from a timing when the undesirable flagswitches from ON to OFF until a present time, and determines whether ornot the measured elapsed time is within the predetermined time (S16). Asthe result, if the vehicle control apparatus 100 determines that theelapsed time is not within the predetermined time (S16: NO), it sets themode to a normal mode in which the time available for the determinationof the collision with the object is not shortened (S19). That is, if thevehicle control apparatus 100 determines that the elapsed time exceedsthe predetermined time, it sets the mode to the normal mode in which theactuation time until implementing the vehicle control is not shortened.

On the other hand, if the vehicle control apparatus 100 determines thatthe elapsed time is within the predetermined time (S16: Yes), itdetermines whether or not any of the sensors 20, in which theundesirable scenario has been eliminated, detects the object that wasnot detected before the elimination of the undesirable scenario (S17).That is, in this processing (S17), the vehicle control apparatus 100determines whether or not either one of the radar sensor 22 or the imagesensor 21, in which the undesirable scenario has been eliminated,detects the object that could not be detected before the elimination. Asthe result, if the vehicle control apparatus 100 determines that any ofthe sensors 20, in which the undesirable scenario has been eliminated,detects the object that was not detected before the elimination (S17:YES), the vehicle control apparatus 100 sets the mode to a shorteningmode in which the time available for the determination of the collisionwith the object is shortened (S18). That is, if the elapsed time iswithin the predetermined time and if any of the sensors 20, in which theundesirable scenario has been eliminated, detects the object that wasnot detected before the elimination, the vehicle control apparatus 100sets the mode to the shortening mode in which the actuation time untilimplementing the vehicle control is shortened. In the shortening modeaccording to the present embodiment, a determination criterion conditionused in determining the collision probability with the object isalleviated. Thereby, in the shortening mode, the time available for thedetermination of the collision with the object (the time untilterminating the determination) is set to be short. Note that the abovedetermination criterion condition is, for example, a sampling number oftarget information used in calculating the trajectory of the object, amoving distance of the object in a transverse direction orthogonal tothe traveling detection of the own vehicle, and so on. In addition, thedetermination criterion condition is a degree of reliability fordetermining whether or not these items of information have beendetermined as an objective target of the vehicle control. Thealleviation of the above determination criterion condition representsdecrease in the sampling number, for example, if the determinationcriterion condition corresponds to the above sampling number. Thealleviation thereof represents reduction in a value of the movingdistance, if the determination criterion condition corresponds to theabove moving distance. In addition, the alleviation thereof representsreduction in a threshold value for determining the degree ofreliability, if the determination criterion condition corresponds to theabove degree of reliability. In this manner, the vehicle controlapparatus 100 according to the present embodiment can shorten the timeavailable for the determination of the collision with the object.

On the other hand, if the vehicle control apparatus 100 determines thatany of the sensors 20, in which the undesirable scenario has beeneliminated, detects the object that was not detected before theelimination (S17: NO), the vehicle control apparatus 100 sets the modeto the normal mode (S19). That is, if the elapsed time is within thepredetermined time and if any of the sensors 20, in which theundesirable scenario has been eliminated, does not detect the objectthat was not detected before the elimination, the vehicle controlapparatus 100 sets the mode to the normal mode in which the actuationtime until implementing the vehicle control is not shortened. In thismanner, the ECU 10 executes the processing from the above steps S16 toS19, and thereby functions as the actuation control unit that shortensthe actuation time until implementing the vehicle control in comparisonwith the case in which the undesirable scenario of any of the sensors 20does not occur.

Next, the execution examples (specific examples) of the aboveprocessings in the vehicle control apparatus 100 according to thepresent embodiment are described with reference to FIGS. 3A to 7.

FIGS. 3A to 5B are examples of undesirable scenarios occurring due topositional relationships in which the plurality of objects are close toeach other. FIGS. 6A and 6B are examples of undesirable scenariosoccurring due to a state in which the object exists outside a detectionrange of at least one sensor 20. FIG. 7 is an example of the undesirablescenario occurring due to a state in which the own vehicle approachesthe object (that is, an approaching state).

<The Undesirable Scenario 1 Occurring Due to the Positional RelationshipBetween the Plurality of Objects>

In the example illustrated in FIG. 3A, a vehicle 60 stops in front of atraveling detection of an own vehicle 50, and a pedestrian 61 exists ata position having an equal distance d equal to a distance between a rearend of the vehicle 60 and a front end of the own vehicle 50. In thiscase, the image sensor 21 detects individually the vehicle 60 and thepedestrian 61 (using the captured image). On the other hand, it isdifficult for the radar sensor 22 to detect a difference between thevehicle 60 and the pedestrian 61 (the plurality of objects) that eachexist at the position having the equal distance d. In the presentembodiment, the present apparatus defines the case in which the object(pedestrian 61) exists at the position having the equal distance d equalto the distance between the rear end of the vehicle 60 and the front endof the own vehicle 50 (that is, the case in which the image sensor 21detects the object at the position having the equal distance d equal tothe distance between the rear end of the vehicle 60 and the front end ofthe own vehicle 50), as a condition of an undesirable scenario 1 of theradar sensor 22 (that is, an occurrence condition) (Note that anundesirable scenario 1 of the radar sensor 22 is set as a situation inwhich the detection capability of the radar sensor 22 is impaired).

In the present embodiment, the above situation is determined as anundesirable scenario 1 of the radar sensor 22. At that time, theundesirable flag is turned on. After that, under the situation that isdetermined as an undesirable scenario 1 of the radar sensor 22, asillustrated in FIG. 3B, if the image sensor 21 detects that thepedestrian 61 separates from the vehicle 60 (that is, if the eliminationcondition is satisfied), the undesirable scenario of the radar sensor 22is eliminated. In particular, for example, if the image sensor 21detects, using the captured image thereof, that a difference between anangle θ2 of the vehicle 60 with respect to an axle O of the own vehicle50 and an angle θ1 of the pedestrian 61 with respect to the axle Othereof becomes a predetermined value or more (that is, the differencebetween θ1 and θ2 becomes a certain angle or more), the presentapparatus determines that an undesirable scenario 1 of the radar sensor22 has been eliminated. In addition, if the image sensor 21 detects thata difference between the relative distance and the relative position(lateral location) of the vehicle 60 with respect to the own vehicle 50,and the relative distance and the relative position of the pedestrian 61with respect to the own vehicle 50 becomes the predetermined value ormore (that is, the difference becomes a certain distance or more), thepresent apparatus may determine that an undesirable scenario 1 of theradar sensor 22 has been eliminated. In this manner, when theundesirable scenario 1 is eliminated, the undesirable flag switches fromON to OFF, in the present embodiment.

If the radar sensor 22 detects the pedestrian 61 who was not detectedbefore the elimination within the predetermined time after anundesirable scenario 1 of the radar sensor 22 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 61 in the shortening mode. On the other hand, if the radarsensor 22 does not detect the pedestrian 61 within the predeterminedtime after an undesirable scenario 1 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 61 in the normal mode.

<The Undesirable Scenario 2 Occurring Due to the Positional RelationshipBetween the Plurality of Objects>

In the example illustrated in FIG. 4A, the vehicle 60 stops at theposition of the distance d in front of the traveling detection of theown vehicle 50, and a pedestrian 62 exists at a position around a frontend of the vehicle 60 (that is, in the vicinity of the vehicle 60). Thatis, the pedestrian 62 is located in front of the traveling detection ofthe own vehicle 50 (that is, the vehicle 60 is located between thepedestrian 62 and the own vehicle 50) and has been in the hidden state.In this case, the image sensor 21 detects (using the captured image) thevehicle 60 using the image processing based on the entire dictionarydata (that is, the template matching) and detects the pedestrian 62using the image processing based on the partial dictionary data. On theother hand, it is difficult for the radar sensor 22 to detect adifference between the vehicle 60 and the pedestrian 62. In the presentembodiment, the present apparatus defines the case in which the objectin the hidden state (the pedestrian 62) exists due to the position ofthe vehicle 60 (that is, the case in which the image sensor 21 detectsthe object in the hidden state in front of traveling detection of theown vehicle 50), as a condition of an undesirable scenario 2 of theradar sensor 22.

In the present embodiment, the above situation is determined as anundesirable scenario 2 of the radar sensor 22. At that time, theundesirable flag is turned on. After that, under the situation that isdetermined as an undesirable scenario 2 of the radar sensor 22, asillustrated in FIG. 4B, if the image sensor 21 detects that thepedestrian 62 appears in front of the vehicle 60, an undesirablescenario 2 of the radar sensor 22 is eliminated. In particular, forexample, if the dictionary data used in the image processing, in whichthe image sensor 21 performs the processing for the pedestrian 62, isswitched from the partial dictionary data to the entire dictionary data,the present apparatus determines that an undesirable scenario 2 of theradar sensor 22 has been eliminated. In addition, if the image sensor 21detects that the pedestrian 62 moves within the detection range (thatis, a detectable angle) of the radar sensor 22, the present apparatusmay determine that an undesirable scenario 2 of the radar sensor 22 hasbeen eliminated. In this manner, when the undesirable scenario 2 iseliminated, the undesirable flag switches from ON to OFF, in the presentembodiment.

If the radar sensor 22 detects the pedestrian 62 who was not detectedbefore the elimination within the predetermined time after anundesirable scenario 2 of the radar sensor 22 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 62 in the shortening mode. On the other hand, if the radarsensor 22 does not detect the pedestrian 62 within the predeterminedtime after an undesirable scenario 2 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 62 in the normal mode.

<The Undesirable Scenario 3 Occurring Due to the Positional RelationshipBetween the Plurality of Objects>

In the example illustrated in the FIG. 5A, a plurality of pedestriansexist in a predetermined area S. That is, there is a crowd in front ofthe traveling detection of the own vehicle 50. In this case, the imagesensor 21 performs the image processing based on the entire dictionarydata or the partial dictionary data (using the captured image), anddetects individually the plurality of pedestrians. On the other hand, itis difficult for the radar sensor 22 to detect a difference among theplurality of pedestrians. In the present embodiment, the presentapparatus defines the case in which there is crowd in front of thetraveling detection of the own vehicle 50 (that is, the case in whichthe image sensor 21 detects a plurality of pedestrians in thepredetermined area S), as a condition of an undesirable scenario 3 ofthe radar sensor 22.

In the present embodiment, the above situation is determined as anundesirable scenario 3 of the radar sensor 22. At that time, theundesirable flag is turned on. After that, under the situation that isdetermined as an undesirable scenario 3 of the radar sensor 22, asillustrated in FIG. 5B, if the image sensor 21 detects that at least onepedestrian 63 among the plurality of pedestrians in the predeterminedarea S separates from the predetermined area S, an undesirable scenario3 of the radar sensor 22 is eliminated. In particular, for example, ifthe image sensor 21 detects, using the captured image thereof, that anangle between a line segment connecting the pedestrian in thepredetermined area S and the own vehicle 50, and a line segmentconnecting the pedestrian 63 and the own vehicle 50 becomes apredetermined value or more (that is, the angle becomes a certain angleor more), the present apparatus determines that an undesirable scenario3 of the radar sensor 22 is eliminated. In addition, if the image sensor21 detects that a difference between the relative distance and therelative position (lateral location) of the pedestrian in thepredetermined area S with respect to the own vehicle 50, and therelative distance and the relative position of the pedestrian 63 withrespect to the own vehicle 50 becomes the predetermined value or more(that is, the difference becomes a certain distance or more), thepresent apparatus may determine that an undesirable scenario 3 of theradar sensor 22 has been eliminated. In this manner, when theundesirable scenario 3 is eliminated, the undesirable flag switches fromON to OFF, in the present embodiment.

If the radar sensor 22 detects the pedestrian 63 who was not detectedbefore the elimination within the predetermined time after anundesirable scenario 3 of the radar sensor 22 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 63 in the shortening mode. On the other hand, if the radarsensor 22 does not detect the pedestrian 63 within the predeterminedtime after an undesirable scenario 3 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 63 in the normal mode.

<The Undesirable Scenario Occurring Due to the State in which the ObjectExists Outside the Detection Range>

In the example illustrated in FIG. 6A, a different detection range isillustrated in which a detection angle θa (an angle indicating theimage-capturable region) of the image sensor 21 is greater than adetection angle θb (an angle indicating the detectable region) of theradar sensor 22 (that is, θa>θb). In addition, in this example, apedestrian 64 exists outside the detection angle θb of the radar sensor22 (that is, outside the detection range). In this case, the imagesensor 21 detects the pedestrian 63 the (using the captured image). Onthe other hand, the radar sensor 22 does not detect the pedestrian 64.In the present embodiment, the present apparatus defines, as thecondition of an undesirable scenario of the radar sensor 22, the case inwhich the object exists outside the detection angle θb, that is, outsidethe detection range (that is, the case in which the image sensor 21detects the object outside the detection range of the radar sensor 22)when the detection angle θa of the image sensor 21 is greater than thedetection angle θb of the radar sensor 22.

In the present embodiment, the above situation is determined as anundesirable scenario of the radar sensor 22. At that time, theundesirable flag is turned on. After that, under the situation that isdetermined as an undesirable scenario of the radar sensor 22, asillustrated in FIG. 6B, if the image sensor 21 detects that thepedestrian 64 moves to an inside of the detection angle θb of the radarsensor 22 (that is, within the detection angle), this undesirablescenario is eliminated. In particular, for example, if the image sensor21 detects, using the captured image thereof, that the pedestrian 64moves transversely to the inside of the detection angle θb of the radarsensor 22, the present apparatus determines that an undesirable scenarioof the radar sensor 22 has been eliminated. In addition, if the radarsensor 22 detects the pedestrian 64 existing inside the detection angleθb, the present apparatus may determine that an undesirable scenario ofthe radar sensor 22 has been eliminated. In this manner, when theundesirable scenario is eliminated, the undesirable flag switches fromON to OFF, in the present embodiment.

If the radar sensor 22 detects the pedestrian 64 who was not detectedbefore the elimination within the predetermined time after anundesirable scenario of the radar sensor 22 is eliminated, the presentapparatus performs the determination for the collision with thepedestrian 64 in the shortening mode. On the other hand, if the radarsensor 22 does not detect the pedestrian 64 within the predeterminedtime after an undesirable scenario is eliminated, the present apparatusperforms the determination for the collision with the pedestrian 64 inthe normal mode.

<The Undesirable Scenario Occurring Due to the State in which the OwnVehicle 50 Approaches the Object>

In the example illustrated in FIG. 7, the radar sensor 22 detects theobject based on a reflection point of electromagnetic waves. Therefore,the radar sensor 22 detects a leading vehicle 70 even if the own vehicle50 approaches the leading vehicle 70 (regardless of a distance betweenvehicles). On the other hand, in the case where the own vehicle 50approaches close to the leading vehicle 70 (that is, at close range),the leading vehicle 70 (a part or an entirety of the rear end of thevehicle) may be out of the detection range (the angle of view) of theimage sensor 21. For this reason, it is difficult for the image sensor21 to detect the leading vehicle 70 by image processing based on theentire dictionary data and the partial dictionary data (using thecaptured image). In the present embodiment, the present apparatusdefines the case in which there is an object approaching the own vehicle50 (that is, the case where the radar sensor 22 detects the object inthe approaching state in which a distance between the leading vehicle 70and the own vehicle 50 becomes a predetermined distance or less), as thecondition of an undesirable scenario of the image sensor 21 (that is,the condition in which the detection capability of the image sensor 21is impaired).

In the present embodiment, the above situation is determined as anundesirable scenario of the image sensor 21. As illustrated in FIG. 7,for example, if the radar sensor 22 detects that the distance betweenthe leading vehicle 70 and the own vehicle 50 becomes a first distanced1 or less (that is, the own vehicle 50 approaches the leading vehicle70 at a certain distance), the present apparatus determines this case asan undesirable scenario of the image sensor 21. At that time, theundesirable flag is turned on. After that, under the situation that isdetermined as an undesirable scenario of the image sensor 21, if theradar sensor 22 detects that the distance between the leading vehicle 70and the own vehicle 50 becomes the predetermined distance or more (thatis, the own vehicle 50 separates from the leading vehicle 70 at acertain distance or more), the present apparatus determines that theundesirable scenario has been eliminated. In particular, for example,the undesirable scenario is eliminated if the radar sensor 22 detects,using a detection result thereof, that the distance between the leadingvehicle 70 and the own vehicle 50 becomes a second distance d2 or more.If the leading vehicle 70 can be detected using the image processing ofthe image sensor 21, the present apparatus determines that anundesirable scenario of the radar sensor 22 has been eliminated. In thismanner, when the undesirable scenario is eliminated, the undesirableflag switches from ON to OFF, in the present embodiment.

If the image sensor 21 detects the leading vehicle 70 that was notdetected before the elimination within the predetermined time after anundesirable scenario of the image sensor 21 is eliminated, the presentapparatus performs the determination for the collision with the leadingvehicle 70 in the shortening mode. On the other hand, if the imagesensor 21 does not detect the leading vehicle 70 within thepredetermined time after an undesirable scenario is eliminated, thepresent apparatus performs the determination for the collision with theleading vehicle 70 in the normal mode.

The vehicle control apparatus 100 according to the present embodimenthas the following excellent effects in the above configurations.

For example, in the undesirable scenario of any of the sensors 20 (thatis, the detection capability impaired state), it may be assumed that theactuation time until implementing the vehicle control for avoiding ormitigating the collision with the object (that is, the time availablefor making the collision determination) is set to a longer time, inorder to enhance the detection capability for detecting the object bythe sensors 20. In this case, since delay of the determination for thecollision probability occurs, an alarm output to a driver for promptingthe avoidance or the mitigation of the collision with the object may betoo late. The vehicle control apparatus 100 according to the presentembodiment shortens the actuation time until implementing the vehiclecontrol, if the detection status of the object is the undesirablescenario of any of the sensors 20 (for example, if the object is hiddenbehind the shielding object, and so on). Thereby, the vehicle controlapparatus 100 according to the present embodiment can prevent latenessof the determination for the collision probability to solve theinconvenience in which the alarm output to the driver for prompting theavoidance or the mitigation of the collision with the object may be toolate. However, depending on each of the sensors 20, the object that wasnot detected in the undesirable scenario cannot necessarily be detectedin association with the elimination of the undesirable scenario. In thiscase, the unnecessary alarm is output to the object (that is, theunnecessary vehicle control is performed). As the result, the driver ofthe own vehicle 50 may feel uncomfortable with the alarm to be output.

The vehicle control apparatus 100 according to the present embodimentshortens the actuation time until implementing the vehicle control, ifthe following condition is satisfied within the predetermined time afterthe undesirable scenario of any of the sensors 20 is eliminated. Inparticular, the vehicle control apparatus 100 shortens the actuationtime until implementing the vehicle control (that is, performs the timeshortening processing), under the condition in which any of the sensors20 detects the object that was not detected before the elimination afterthe elimination of the undesirable scenario. At that time, the vehiclecontrol apparatus 100 shortens the actuation time in comparison with thetime when any of the sensors 20 detects the object without havingsuffered any undesirable scenario. Thereby, the vehicle controlapparatus 100 according to the present embodiment can preventunnecessary vehicle control related to the object, when the undesirablescenario of any of the sensors 20 is eliminated.

The vehicle control apparatus 100 according to the present embodimentpresets the condition of the undesirable scenario in any of the sensors20 and the condition in which the undesirable scenario thereof iseliminated, that is, the elimination condition, (that is, it presetsthese conditions). Thereby, the vehicle control apparatus 100 accordingto the present embodiment can determine whether or not the currentdetection status of the object is the undesirable scenario and candetermine whether the undesirable scenario has been eliminated, for eachof the sensors 20.

For example, if there are a first object and a second object approachingeach other, the image sensor 21 can detect the difference between thefirst object and the second object. On the other hand, since it isdifficult for the radar sensor 22 to detect the difference between thefirst object and the second object (that is, the plurality of objects inthe approaching state), the detection capability for detecting theobject is impaired. The vehicle control apparatus 100 according to thepresent embodiment determines that the detection status of the object isthe undesirable scenario of the radar sensor 22, if the image sensor 21detects the second object approaching the first object. That is, thevehicle control apparatus 100 has a preset case in which the imagesensor 21 detects the second object approaching to the first object, asa determination condition of the undesirable scenario of the radarsensor 22. After that, the vehicle control apparatus 100 determines thatthe undesirable scenario of the radar sensor 22 is eliminated, if theimage sensor 21 detects that the approaching state is eliminated inwhich the second object approaches the first object (that is, eachobject separates at a certain distance or more). That is, the vehiclecontrol apparatus 100 has a preset case where the image sensor 21detects that the approaching state is eliminated in which the secondobject approaches the first object, as the elimination condition of theundesirable scenario of the radar sensor 22. The vehicle controlapparatus 100 determines that there is the possibility in which thesecond object collides with the own vehicle 50, if the radar sensor 22detects the second object that was not detected before the elimination,within the predetermined time after determining that the undesirablescenario of the radar sensor 22 is eliminated. As the result, thevehicle control apparatus 100 performs the determination for thecollision with the second object in the shortening mode and shortens theactuation time until implementing the vehicle control. On the otherhand, the vehicle control apparatus 100 determines that there is the lowprobability in which the second object collides with the own vehicle 50,if the radar sensor 22 does not detect the second object that was notdetected before the elimination, within the predetermined time afterdetermining that the undesirable scenario of the radar sensor 22 iseliminated. As the result, the vehicle control apparatus 100 performsthe determination for the collision with the second object in the normalmode and does not shorten the actuation time until implementing thevehicle control. In this manner, if the undesirable scenario of theradar sensor 22 occurs due to the positional relationship between theplurality of objects, the vehicle control apparatus 100 according to thepresent embodiment performs the following processing. The vehiclecontrol apparatus 100 does not shorten the actuation time untilimplementing the vehicle control, if both the image sensor 21 and theradar sensor 22 do not detect the second object within the predeterminedtime after the undesirable scenario is eliminated. Thereby, the vehiclecontrol apparatus 100 according to the present embodiment can preventunnecessary vehicle control related to the object with a low degree ofreliability (that is, the object with the low degree of reliability inthe detection accuracy), when the undesirable scenario of the radarsensor 22 is eliminated.

For example, it may be assumed that the detection angle θa of the imagesensor 21 differs from the detection angle θb of the radar sensor 22,the detection angle θb of the radar sensor 22 (a first detection range)is smaller than the detection angle θa of the image sensor 21 (a seconddetection range), and the detection angle θb is included within therange of the detection angle θa. In this case, the image sensor 21detects a third object, however the radar sensor 22 does not detect thethird object, wherein the third object exists outside the detectionangle θb (that is, outside the detection range if the radar sensor 22)and within the detection angle of the detection angle θa (that is,within the detection angle of the image sensor 21). If the image sensor21 detects the third object existing outside the detection angle θb ofthe radar sensor 22, the vehicle control apparatus 100 according to thepresent embodiment determines that the detection status of the object isthe undesirable scenario of the radar sensor 22. That is, the vehiclecontrol apparatus 100 has a preset case in which the image sensor 21detects the third object existing outside the detection range of theradar sensor 22, as the determination condition of the undesirablescenario of the radar sensor 22. After that, the vehicle controlapparatus 100 determines that the undesirable scenario of the radarsensor 22 is eliminated, if the image sensor 21 detects the third objectwithin the detection angle θb of the radar sensor 22. That is, thevehicle control apparatus 100 has a preset case in which the imagesensor 21 detects the third object within the detection range of theradar sensor 22, as the determination condition of the undesirablescenario of the radar sensor 22. The vehicle control apparatus 100performs the determination for the collision with the third object inthe shortening mode, if the radar sensor 22 detects the third objectthat was not detected before the elimination, within the predeterminedtime after determining that the undesirable scenario of the radar sensor22 is eliminated. As the result, the vehicle control apparatus 100shortens the actuation time until implementing the vehicle control. Onthe other hand, the vehicle control apparatus 100 performs thedetermination for the collision with the third object in the normalmode, if the radar sensor 22 does not detect the third object that wasnot detected before the elimination, within the predetermined time afterdetermining that the undesirable scenario of the radar sensor 22 iseliminated. As the result, the vehicle control apparatus 100 does notshorten the actuation time until implementing the vehicle control. Inthis manner, if the undesirable scenario of the radar sensor 22 occursdue to the object existing outside the detection range, the vehiclecontrol apparatus 100 according to the present embodiment performs thefollowing processing. The vehicle control apparatus 100 does not shortenthe actuation time until implementing the vehicle control, if both theimage sensor 21 and the radar sensor 22 do not detect the third objectwithin the predetermined time after the undesirable scenario iseliminated. Thereby, the vehicle control apparatus 100 according to thepresent embodiment can prevent unnecessary vehicle control related tothe object with the low degree of reliability (that is, the object withthe low degree of reliability in the detection accuracy), when theundesirable scenario of the radar sensor 22 is eliminated.

For example, in a case where the own vehicle 50 approaches the fourthobject (that is, at close range), since a part (each end on upper andlower portions, and right and left portions) of the fourth object orentirety thereof is out of the detection range of the image sensor 21,the detection capability for detecting the object of the image sensor 21is impaired. If the radar sensor 22 detects the fourth objectapproaching the own vehicle 50 at the predetermined distance or less(that is, the fourth object located at the close range with respect tothe own vehicle 50), the vehicle control apparatus 100 according to thepresent embodiment determines that the detection status of the object isthe undesirable scenario of the image sensor 21. That is, the vehiclecontrol apparatus 100 has a preset case in which the radar sensor 22detects the fourth object approaching the own vehicle 50, as thedetermination condition of the undesirable scenario of the image sensor21. After that, the vehicle control apparatus 100 determines that theundesirable scenario of the image sensor 21 is eliminated, if the radarsensor 22 detects that the approaching state is eliminated in which thefourth object approaches the own vehicle 50 (that is, each objectseparates at a certain distance or more). That is, the vehicle controlapparatus 100 has a preset case where the radar sensor 22 detects thatthe approaching state is eliminated in which the fourth objectapproaches the own vehicle 50, as the elimination condition of the imagesensor 21. The vehicle control apparatus 100 performs the determinationfor the collision with the fourth object in the shortening mode, if theimage sensor 21 detects the fourth object that was not detected beforethe elimination, within the predetermined time after the undesirablescenario of the image sensor 21 is eliminated. As the result, thevehicle control apparatus 100 shortens the actuation time untilimplementing the vehicle control. On the other hand, the vehicle controlapparatus 100 performs the determination for the collision with thefourth object in the normal mode, if the image sensor 21 does not detectthe fourth object that was not detected before the elimination, withinthe predetermined time after the undesirable scenario of the imagesensor 21 is eliminated. As the result, the vehicle control apparatus100 does not shorten the actuation time until implementing the vehiclecontrol. In this manner, if the undesirable scenario of the image sensor21 occurs due to the state in which the own vehicle 50 approaches theobject, the vehicle control apparatus 100 according to the presentembodiment performs the following processing. The vehicle controlapparatus 100 does not shorten the actuation time until implementing thevehicle control, if both the image sensor 21 and the radar sensor 22 donot detect the fourth object within the predetermined time after theundesirable scenario is eliminated. Thereby, the vehicle controlapparatus 100 according to the present embodiment can preventunnecessary vehicle control related to the object with the low degree ofreliability (that is, the object with the low degree of reliability inthe detection accuracy), when the undesirable scenario of the imagesensor 21 is eliminated.

The vehicle control apparatus 100 in the present disclosure is notlimited to the description in the above embodiment. For example, thevehicle control apparatus 100 may implement the processing as follows.Note that the same referential mark is marked in the same configurationas the above embodiment, and the detailed descriptions are omitted inthe following descriptions.

In the above embodiment, the object with the possibility of collidingwith the own vehicle 50 has a characteristic in which the object isdetected immediately before the collision with the own vehicle (that is,a characteristic in which the entire object can be detected), inassociation with the elimination of the undesirable scenario of any ofthe sensors 20. In a modification of the above embodiment, if theundesirable scenario is eliminated, the present apparatus may shortenthe time available for making the collision determination under thecondition in which the image sensor 21 detects the entire object thatwas not detected before the elimination. Note that the determination asto whether or not the image sensor 21 detects the entire object, can beperformed by the image processing (template matching) based on theentire dictionary data.

In a modification of the above embodiment, depending on the timeavailable from the timing when the detection status of the object isdetermined as the undesirable scenario of any of the sensors 20 untilthe timing when it is determined that the undesirable scenario has beeneliminated, the present apparatus may variably set (perform the variablesetting) a rate in which the actuation time until implementing thevehicle control is shortened (that is, a shortening ratio).Additionally, in the modification, for example, the present apparatussets the actuation time until implementing the vehicle control, asillustrated in FIG. 8. In particular, as a time T1 becomes shorter(wherein T1 is a time until the undesirable scenario of any of thesensors 20 is eliminated), the present apparatus reduces the rate atwhich the actuation time until implementing the vehicle control isshortened. That is, the present apparatus sets the actuation time to along time as compared to when the time T1 is long. On the other hand, asa time T1 (the time until the undesirable scenario of any of the sensors20 is eliminated) becomes longer, the present apparatus increases therate at which the actuation time is shortened. That is, the presentapparatus sets the actuation time to a short time as compared to whenthe time T1 is short. Thereby, in the modification, considering thestatus when the undesirable scenario of any of the sensors 20 iseliminated (that is, the positional relationship between the own vehicle50 and the object when the undesirable scenario is eliminated), thepresent apparatus can properly implement the vehicle control.

In a modification of the above embodiment, depending on the elapsed timefrom the timing when the undesirable scenario of any of the sensors 20is eliminated until the timing when any of the sensors 20 detects theobject, the present apparatus may variably set the rate in which theactuation time until implementing the vehicle control. Additionally, inthe modification, for example, the present apparatus sets the actuationtime until implementing the vehicle control as follows. In particular,as the elapsed time becomes shorter, (wherein the elapsed time is a timefrom the timing when the undesirable scenario of any of the sensors 20is eliminated until the timing when any of the sensors 20 detects theobject), the present apparatus increases the rate at which the actuationtime until implementing the vehicle control is shortened. That is, thepresent apparatus sets the actuation time to a relatively short time ascompared to when the elapsed time is long. On the other hand, as theelapsed time becomes longer, (wherein the elapsed time is a time fromthe timing when the undesirable scenario of any of the sensors 20 iseliminated until the timing when any of the sensors 20 detects theobject), the present apparatus reduces the rate at which the actuationtime until implementing the vehicle control is shortened. That is, thepresent apparatus sets the actuation time to a relatively long time ascompared to when the elapsed time is short. Note that after a certaintime has passed from the time when the undesirable scenario of any ofthe sensors 20 is eliminated, the present apparatus may shorten theactuation time until implementing the vehicle control. Thereby, in themodification, considering the status in which the object is detectedafter the elimination of the undesirable scenario, the present apparatuscan properly implement the vehicle control.

The radar sensor 22 can detect the distance to the object existing infront of in the traveling detection of the own vehicle 50, regardless ofthere being a small or large difference between light and dark (that is,contrast). On the other hand, if a light volume is low during the nightand so on (that is, if the contrast is small), the detection capabilityof the image sensor 21 is impaired. Therefore, in a modification of theabove embodiment, the present apparatus defines the case in which thecontrast is small, as the condition of the undesirable scenario of theimage sensor 21. In this case, for example, under a condition in whichthe detection range of the object detected by the radar sensor 22 isoutside an irradiation range of a low beam (that is, a headlight forpassing each other) in the own vehicle 50 and it is within anirradiation range of a high beam (that is, a headlight for travelling),the present apparatus may determine that the undesirable scenario of theimage sensor 21 is eliminated. If the image sensor 21 detects the objectthat was not detected before the elimination within the predeterminedtime after the undesirable scenario of the image sensor 21 iseliminated, the present apparatus performs the determination for thecollision with the object in the shortening mode.

In the above embodiment, if the detection angle of the radar sensor 22(detection angle θb) is greater than the detection range of the imagesensor 21 (detection angle θa), the image sensor 21 cannot detect theobject existing outside the detection range of the image sensor 21 (thatis, outside the detection angle θa). Therefore, in a modification of theabove embodiment, the present apparatus defines the case with the radarsensor 22 detects the object existing outside the detection range of theimage sensor 21, as the condition of the undesirable scenario of theimage sensor 21. In this case, for example, under a condition in whichthe objects moves within the detection range of the image sensor 21,based on changes of a vehicle speed of the own vehicle 50, a movingspeed of the object (for example, a pedestrian and so on), or the like,the present apparatus may determine that the undesirable scenario of theimage sensor 21 is eliminated.

For example, it may be assumed that a plurality of large vehicles(trucks and so on) run parallel to each other, in front of thetravelling direction of the own vehicle 50, on a road with a pluralityof lanes each way. Moreover, it is possible that a small vehicle (forexample, a light automobile, two-wheel vehicle, or the like) may existbetween large vehicles, and the small vehicle is located at a positionequal to a distance between a rear end of the large vehicle and a frontend of the small vehicle. In this case, it is difficult for the radarsensor 22 to detect a difference between the large vehicle and the smallvehicle. Therefore, in a modification of the above embodiment, thepresent apparatus defines this case, as the condition of the undesirablescenario of the radar sensor 22. In this case, for example, under thecondition in which a difference between the relative distance and therelative position (lateral location) of the large vehicle with respectto the own vehicle 50, and the relative distance and the relativeposition of the small vehicle with respect to the own vehicle 50 becomesthe predetermined value or more (that is, the difference becomes acertain distance or more), the present apparatus may determine that theundesirable scenario of the radar sensor 22 is eliminated. If the radarsensor 22 detects the vehicle that was not detected before theelimination within the predetermined time after determining that theundesirable scenario of the radar sensor 22 is eliminated, the presentapparatus performs the determination for the collision with the vehiclein the shortening mode. On the other hand, if the radar sensor 22 doesnot detect the vehicle that was not detected before the eliminationwithin the predetermined time after determining that the undesirablescenario is eliminated, the present apparatus performs the determinationfor the collision with the vehicle in the normal mode.

For example, it may be assumed that an object which is a pedestrian orthe like exists near a guard rail (that is, a crash barrier) and a spaceis narrow between the guard rail and the object. In this case, it may bedifficult for the radar sensor 22 to detect a difference between theguard rail and the object. Therefore, in a modification of the aboveembodiment, the present apparatus defines this status, as the conditionof the undesirable scenario of the radar sensor 22. In this case, forexample, under the condition in which the pedestrian crosses over theguard rail and then moves on the travelling road, and the space betweenthe guard rail and the object is separated at the predetermined space ormore (that is, the space becomes a certain distance or more), thepresent apparatus may determine that the undesirable scenario of theradar sensor 22 is eliminated. If the radar sensor 22 detects thepedestrian who was not detected before the elimination within thepredetermined time after determining that the undesirable scenario ofthe radar sensor 22 is eliminated, the present apparatus performs thedetermination for the collision with the pedestrian in the shorteningmode. On the other hand, if the radar sensor 22 does not detect thepedestrian who was not detected before the elimination within thepredetermined time after determining that the undesirable scenario iseliminated, the present apparatus performs the determination for thecollision with the pedestrian in the normal mode. As well, in themodification, under the condition in which the radar sensor 22 detectsthe pedestrian who was not detected before the elimination within thepredetermined time after determining that the undesirable scenario iseliminated and in which the detected pedestrian moves in a directionapproaching to the own vehicle 50, the present apparatus may shorten thetime available for making the collision determination.

In a modification of the above embodiment, each processing in the abovedescriptions can also be applied to a case in which the object in frontof the traveling detection of the own vehicle 50 is an automobile. Aswell, if the object is the automobile, the radar sensor 22 may notdetect the automobile, due to the low tracking accuracy caused by a highmoving speed of the automobile. Therefore, in the modification, theimage sensor 21 detects the automobile, and the present apparatusdefines a case in which the moving speed of the detected automobilebecomes a predetermined speed or more, as the condition of theundesirable scenario of the radar sensor 22. In this case, for example,under a condition in which the moving speed of the automobile becomes avalue less than the predetermined speed, the present apparatus maydetermine that the undesirable scenario of the radar sensor 22 iseliminated.

The radar sensor 22 is set to the undesirable scenario in which thedetection capability for detecting the object is impaired, if thedistance to the object has been in a close range (for example, less thantwo meters). In a modification of the above embodiment, the sensors 20such as a sonar or a laser that can detect an object located at a rangevery much closer than the radar sensor 22 are mounted in the own vehicle50. In the modification, the present apparatus defines the case in whichany of the sensors 20 (that can detect the object in the close range)detects the object that was not detected by the radar sensor 22, as thecondition of the undesirable scenario of the radar sensor 22.

If the image sensor 21 is a monocular camera, the image sensor 21 cannotcapture, for example, the pedestrian existing near the guard rail. Onthe other hand, the radar sensor 22 can detect the guard rail from aline of the object with a predetermined reflection intensity. In amodification of the above embodiment, the present apparatus defines thecase in which the radar sensor 22 detects the guard rail, as thecondition of the undesirable scenario of the monocular camera (imagesensor 21). In the modification, under a condition in which themonocular camera detects the pedestrian and the detected pedestrianmoves toward the travelling road, the present apparatus determines thatthe undesirable scenario of the monocular camera is eliminated. In thiscase, in the modification, if the monocular camera detects thepedestrian using the image processing based on the entire dictionarydata within the predetermined time after determining that theundesirable scenario of the monocular camera is eliminated, the presentapparatus shortens the time available for making the collisiondetermination. On the other hand, if the monocular camera does notdetect the pedestrian, the present apparatus does not shorten the timeavailable for making the collision determination.

In a modification of the above embodiment, depending on the type (kind)of the detected object when the undesirable scenario of any of thesensors 20 is eliminated, the present apparatus may set the mode to theshortening mode or the normal mode. In particular, for example, if theobject (which is detected within the predetermined time afterdetermining that the undesirable scenario of any of the sensors 20 iseliminated) is a pedestrian, a vehicle, or the like, the presentapparatus sets the mode to the shortening mode in which the actuationtime until implementing the vehicle control is shortened. That is, theobject (which is detected within the predetermined time afterdetermining that the undesirable scenario of any of the sensors 20 iseliminated) is a stationary body of a manhole or the like, the presentapparatus sets the mode to the normal mode in which the actuation timeuntil implementing the vehicle control is not shortened.

In a modification of the above embodiment, depending on the type of theobject, the present apparatus may change a determination threshold valueused in the determination as to whether or not the undesirable scenariois eliminated. In particular, if the moving speed of the object (forexample, the two-wheel vehicle) is faster than that of the pedestrian,the present apparatus sets the determination threshold value to a smallvalue, and sets the determination criterion to a low level. In addition,for example, in case of the pedestrian, when the detection is performedby the image processing based on the entire dictionary data, the presentapparatus determines that the undesirable scenario is eliminated. On theother hand, in case of the two-wheel vehicle, when the detection isperformed by the image processing based on the partial dictionary data,the present apparatus may determine that the undesirable scenario iseliminated. In this manner, in the modification, depending on the typeof the object, the present apparatus can determine properly theelimination of the undesirable scenario of any of the sensors 20.

In a modification of the above embodiment, depending on the type of theobject detected when the undesirable scenario of any of the sensors 20is eliminated, the present apparatus may variably set the rate in whichthe actuation time until implementing the vehicle control is shortened(that is, the shortening ratio). In particular, if the moving speed ofthe object (for example, the two-wheel vehicle) is faster than that ofthe pedestrian, the present apparatus increases the rate thereof, andsets the setting so as to shorten the actuation time more. In thismanner, in the modification, depending on the type of the objectdetected in association with the elimination of the undesirable scenarioof any of the sensors 20, the present apparatus can perform the vehiclecontrol in a more proper timing.

A modification of the above embodiment may include at least threesensors (that is, at least three of the sensors 20 that detect theobject existing around the vehicle in the respective differentfashions). In particular, for example, the own vehicle 50 may includethe image sensor 21 and the radar sensor 22 as well as the sonar and soon, in the configuration of thereof.

In above description, if any of the sensors 20 detects the object thatwas not detected before the elimination within the predetermined timeafter determining that the undesirable scenario of any of the sensors 20is eliminated, the present apparatus shortens the actuation time untilimplementing the vehicle control. Note that the above predetermined timemay be variably set depending on the type of the undesirable scenario orthe type of the object. That is, in the modification, the ECU 10 mayfunction as a setting portion that variably sets the predetermined time.In particular, for example, the predetermined time is set to a differentvalue in each undesirable scenario occurring due to each positionalrelationship between the plurality of objects in the above description.In addition, for each of the case in which the object is the own vehicle50 and the case in which the object is the pedestrian, the presentapparatus sets each predetermined time, in these cases, to a differentvalue.

In above description, if any of the sensors 20 detects the object thatwas not detected before the elimination within the predetermined timeafter determining that the undesirable scenario of any of the sensors 20is eliminated, the present apparatus shortens the actuation time untilimplementing the vehicle control. However, the present invention is notlimited to this case. As another example, under the condition in whichany of the sensors 20 detects the object that was not detected beforethe elimination at the time point when the undesirable scenario of anyof the sensors 20 is eliminated, the present apparatus may shorten theactuation time until implementing the vehicle control.

REFERENCE SIGNS LIST

-   -   10 . . . ECU    -   21 . . . Image sensor    -   22 . . . Radar sensor    -   50 . . . Own vehicle    -   100 . . . Vehicle control apparatus

1. A vehicle control apparatus applied to a vehicle including aplurality of detection units detecting, in different fashions, an objectexisting around an own vehicle, and implementing vehicle control foravoiding or mitigating a collision with the object based on detectioninformation from the plurality of detection units, the vehicle controlapparatus comprising: a first determination unit that determines anoccurrence of a detection capability impaired state in which a detectioncapability for detecting the object is impaired at any of the detectionunits among the plurality of the detection units based on the detectioninformation from the detection unit or the other detection units; asecond determination unit that determines whether or not the detectioncapability impaired state has been eliminated after the firstdetermination unit determines the occurrence of the detection capabilityimpaired state; and an actuation control unit that shortens an actuationtime until implementing the vehicle control for avoiding or mitigatingthe collision, in comparison with a time when the detection unit detectsthe object and the detection capability impaired state has notpreviously occurred, if the object is detected by the detection unit inwhich the detection capability impaired state has been eliminated withina predetermined time after the second determination unit determines thatthe detection capability impaired state has been eliminated, and notshortening the actuation time, if the object is not detected by thedetection unit in which the detection capability impaired state has beeneliminated within the predetermined time after the second determinationunit determines that the detection capability impaired state has beeneliminated.
 2. The vehicle control apparatus according to claim 1,wherein, under a state in which the plurality of the detection unitsdetects the object, the vehicle control apparatus defines a condition ofthe detection capability impaired state caused on the detection unit foreach of the detection units, and an elimination condition by which thedetection capability impaired state is eliminated, the firstdetermination unit determines the occurrence of the detection capabilityimpaired state, if the condition of the detection capability impairedstate for each of the detection units is satisfied, and the seconddetermination unit determines that the detection capability impairedstate has been eliminated if the elimination condition is satisfied. 3.The vehicle control apparatus according to claim 2, wherein theactuation control unit variably sets a shortening ratio of the actuationtime depending on a time from a timing when the first determination unitdetermines that the detection unit has been in the detection capabilityimpaired state until a timing when the second determination unitdetermines that the elimination condition is satisfied.
 4. The vehiclecontrol apparatus according to claim 2, wherein the actuation controlunit variably sets the shortening ratio of the actuation time dependingon a time from the timing when the second determination unit determinesthat the elimination condition is satisfied and then the detectioncapability impaired state is eliminated until a timing when the objectis detected by the detection unit in which the detection capabilityimpaired state is eliminated.
 5. The vehicle control apparatus accordingto claim 2, wherein the actuation control unit variably sets theshortening ratio of the actuation time depending on a type of the objectto be detected, at the time from the timing when the seconddetermination unit determines that the elimination condition issatisfied and then the detection capability impaired state is eliminateduntil the timing when the object is detected by the detection unit inwhich the detection capability impaired state is eliminated.
 6. Thevehicle control apparatus according to claim 1, comprising: a firstdetection unit that detects the object around the own vehicle by areflected wave; and a second detection unit that detects the objectaround the own vehicle by an image processing of a captured image, asthe plurality of the detection units, wherein, the first determinationunit determines that the first detection unit has been in the detectioncapability impaired state if a first object and a second object bothhaving been in an approaching state are detected by the image processingof the second detection unit, the second determination unit determinesthat the detection capability impaired state of the first detection unithas been eliminated if it is detected that the approaching states of thefirst object and the second object are eliminated by the imageprocessing of the second detection unit, and the actuation control unitshortens the actuation time if the first detection unit detects thesecond object within the predetermined time after determining that thedetection capability impaired state of the first detection unit has beeneliminated, and does not shorten the actuation time if the firstdetection unit does not detect the second object within thepredetermined time.
 7. The vehicle control apparatus according to claim6, wherein, if a first detection range in which the first detection unitcan detect the object differs from a second detection range in which thesecond detection unit can detect the object, and if the first detectionrange is included within the second detection range, the firstdetermination unit determines that the first detection unit has been inthe detection capability impaired state if the second detection unitdetects a third object outside the first detection range, the seconddetermination unit determines that the detection capability impairedstate of the first detection unit has been eliminated if the seconddetection unit detects the third object within the first detectionrange, and the actuation control unit shortens the actuation time if thefirst detection unit detects the third object within the predeterminedtime after determining that the detection capability impaired state ofthe first detection unit has been eliminated, and does not shorten theactuation time if the first detection unit does not detect the thirdobject within the predetermined time.
 8. The vehicle control apparatusaccording to claim 6, wherein the first determination unit determinesthat the second detection unit has been in the detection capabilityimpaired state if the first detection unit detects a fourth objectlocating in a short distance with respect to the own vehicle and havingbeen in an approaching state with respect thereto, the seconddetermination unit determines that the detection capability impairedstate of the second detection unit is eliminated if the first detectionunit detects that a distance between the own vehicle and the fourthobject is separated by a predetermined distance or more, and theactuation control unit shortens the actuation time if the seconddetection unit detects the fourth object within the predetermined timeafter determining that the detection capability impaired state of thesecond detection unit has been eliminated, or does not shorten theactuation time if the second detection unit does not detect the fourthobject within the predetermined time.
 9. The vehicle control apparatusaccording to claim 6, comprising an object recognition unit thatrecognizes the object by fusing position information about the objectacquired by the first detection unit and by the second detection unit.10. The vehicle control apparatus according to claim 1, wherein theactuation control unit sets the actuation time to be short under acondition where the object is detected by the detection unit in whichthe detection capability impaired state is eliminated, at a time pointwhen the second determination unit determines that the detectioncapability impaired state is eliminated.
 11. The vehicle controlapparatus according to claim 1, comprising a setting unit that variablysets the predetermined time depending on a type of the detectioncapability impaired state or the type of the object.
 12. A vehiclecontrolling method performed by a vehicle control apparatus applied tothe vehicle including a plurality of detection units detecting, indifferent fashions, an object existing around an own vehicle, andimplementing vehicle control for avoiding or mitigating a collision withthe object based on detection information from the plurality ofdetection units, the method comprising: a first determination step ofdetermining an occurrence of a detection capability impaired state inwhich a detection capability for detecting the object is impaired at anyof the detection units among the plurality of the detection units basedon the detection information about the detection unit or the otherdetection units; a second determination step of determining whether ornot the detection capability impaired state has been eliminated afterthe occurrence of the detection capability impaired state is determined;and an actuation control step of shortening an actuation time untilimplementing the vehicle control for avoiding or mitigating thecollision, in comparison with a time when the detection unit detects theobject and the detection capability impaired state has not previouslyoccurred, if the object is detected by the detection unit in which thedetection capability impaired state has been eliminated within apredetermined time after determining that the detection capabilityimpaired state has been eliminated, and not shortening the actuationtime, if the object is not detected by the detection unit in which thedetection capability impaired state has been eliminated within thepredetermined time after the second determination unit determines thatthe detection capability impaired state has been eliminated.
 13. Avehicle control apparatus applied to a vehicle including a plurality ofdetection units detecting, in different fashions, an object existingaround an own vehicle, and implementing vehicle control for avoiding ormitigating a collision with the object based on detection informationfrom the plurality of detection units, the vehicle control apparatuscomprising: a first determination unit that determines an occurrence ofa detection capability impaired state in which a detection capabilityfor detecting the object is impaired at any of the detection units amongthe plurality of the detection units based on the detection informationfrom the detection unit or the other detection units; a seconddetermination unit that determines whether or not the detectioncapability impaired state has been eliminated after the firstdetermination unit determines the occurrence of the detection capabilityimpaired state; and an actuation control unit that shortens an actuationtime until implementing the vehicle control for avoiding or mitigatingthe collision, in comparison with a time when the detection unit detectsthe object and the detection capability impaired state has notpreviously occurred, if the object is detected by the detection unit inwhich the detection capability impaired state has been eliminated withina predetermined time after the second determination unit determines thatthe detection capability impaired state has been eliminated, wherein,under a state in which the plurality of the detection units detects theobject, the vehicle control apparatus defines a condition of thedetection capability impaired state caused on the detection unit foreach of the detection units, and an elimination condition by which thedetection capability impaired state is eliminated, the firstdetermination unit determines the occurrence of the detection capabilityimpaired state, if the condition of the detection capability impairedstate for each of the detection units is satisfied, the seconddetermination unit determines that the detection capability impairedstate has been eliminated if the elimination condition is satisfied, andthe actuation control unit variably sets a shortening ratio of theactuation time depending on a time from a timing when the firstdetermination unit determines that the detection unit has been in thedetection capability impaired state until a timing when the seconddetermination unit determines that the elimination condition issatisfied.
 14. The vehicle control apparatus according to claim 13,wherein the actuation control unit variably sets the shortening ratio ofthe actuation time depending on a time from the timing when the seconddetermination unit determines that the elimination condition issatisfied and then the detection capability impaired state is eliminateduntil a timing when the object is detected by the detection unit inwhich the detection capability impaired state is eliminated.
 15. Avehicle control apparatus applied to a vehicle including a plurality ofdetection units detecting, in different fashions, an object existingaround an own vehicle, and implementing vehicle control for avoiding ormitigating a collision with the object based on detection informationfrom the plurality of detection units, the vehicle control apparatuscomprising: a first determination unit that determines an occurrence ofa detection capability impaired state in which a detection capabilityfor detecting the object is impaired at any of the detection units amongthe plurality of the detection units based on the detection informationfrom the detection unit or the other detection units; a seconddetermination unit that determines whether or not the detectioncapability impaired state has been eliminated after the firstdetermination unit determines the occurrence of the detection capabilityimpaired state; and an actuation control unit that shortens an actuationtime until implementing the vehicle control for avoiding or mitigatingthe collision, in comparison with a time when the detection unit detectsthe object and the detection capability impaired state has notpreviously occurred, if the object is detected by the detection unit inwhich the detection capability impaired state has been eliminated withina predetermined time after the second determination unit determines thatthe detection capability impaired state has been eliminated, wherein,under a state in which the plurality of the detection units detects theobject, the vehicle control apparatus defines a condition of thedetection capability impaired state caused on the detection unit foreach of the detection units, and an elimination condition by which thedetection capability impaired state is eliminated, the firstdetermination unit determines the occurrence of the detection capabilityimpaired state, if the condition of the detection capability impairedstate for each of the detection units is satisfied, the seconddetermination unit determines that the detection capability impairedstate has been eliminated if the elimination condition is satisfied, andthe actuation control unit variably sets the shortening ratio of theactuation time depending on a time from the timing when the seconddetermination unit determines that the elimination condition issatisfied and then the detection capability impaired state is eliminateduntil a timing when the object is detected by the detection unit inwhich the detection capability impaired state is eliminated.
 16. Thevehicle control apparatus according to claim 15, wherein the actuationcontrol unit variably sets the shortening ratio of the actuation timedepending on a type of the object to be detected, at the time from thetiming when the second determination unit determines that theelimination condition is satisfied and then the detection capabilityimpaired state is eliminated until the timing when the object isdetected by the detection unit in which the detection capabilityimpaired state is eliminated.
 17. A vehicle control apparatus applied toa vehicle including a plurality of detection units detecting, indifferent fashions, an object existing around an own vehicle, andimplementing vehicle control for avoiding or mitigating a collision withthe object based on detection information from the plurality ofdetection units, the vehicle control apparatus comprising: a firstdetermination unit that determines an occurrence of a detectioncapability impaired state in which a detection capability for detectingthe object is impaired at any of the detection units among the pluralityof the detection units based on the detection information from thedetection unit or the other detection units; a second determination unitthat determines whether or not the detection capability impaired statehas been eliminated after the first determination unit determines theoccurrence of the detection capability impaired state; and an actuationcontrol unit that shortens an actuation time until implementing thevehicle control for avoiding or mitigating the collision, in comparisonwith a time when the detection unit detects the object and the detectioncapability impaired state has not previously occurred, if the object isdetected by the detection unit in which the detection capabilityimpaired state has been eliminated within a predetermined time after thesecond determination unit determines that the detection capabilityimpaired state has been eliminated, wherein, under a state in which theplurality of the detection units detects the object, the vehicle controlapparatus defines a condition of the detection capability impaired statecaused on the detection unit for each of the detection units, and anelimination condition by which the detection capability impaired stateis eliminated, the first determination unit determines the occurrence ofthe detection capability impaired state, if the condition of thedetection capability impaired state for each of the detection units issatisfied, the second determination unit determines that the detectioncapability impaired state has been eliminated if the eliminationcondition is satisfied, and the actuation control unit variably sets theshortening ratio of the actuation time depending on a type of the objectto be detected, at the time from the timing when the seconddetermination unit determines that the elimination condition issatisfied and then the detection capability impaired state is eliminateduntil the timing when the object is detected by the detection unit inwhich the detection capability impaired state is eliminated.
 18. Thevehicle control apparatus according to claim 17, comprising: a firstdetection unit that detects the object around the own vehicle by areflected wave; and a second detection unit that detects the objectaround the own vehicle by an image processing of a captured image, asthe plurality of the detection units, wherein, the first determinationunit determines that the first detection unit has been in the detectioncapability impaired state if a first object and a second object bothhaving been in an approaching state are detected by the image processingof the second detection unit, the second determination unit determinesthat the detection capability impaired state of the first detection unithas been eliminated if it is detected that the approaching states of thefirst object and the second object are eliminated by the imageprocessing of the second detection unit, and the actuation control unitshortens the actuation time if the first detection unit detects thesecond object within the predetermined time after determining that thedetection capability impaired state of the first detection unit has beeneliminated, and does not shorten the actuation time if the firstdetection unit does not detect the second object within thepredetermined time.
 19. A vehicle control apparatus applied to a vehicleincluding a plurality of detection units detecting, in differentfashions, an object existing around an own vehicle, and implementingvehicle control for avoiding or mitigating a collision with the objectbased on detection information from the plurality of detection units,the vehicle control apparatus comprising: a first determination unitthat determines an occurrence of a detection capability impaired statein which a detection capability for detecting the object is impaired atany of the detection units among the plurality of the detection unitsbased on the detection information from the detection unit or the otherdetection units; a second determination unit that determines whether ornot the detection capability impaired state has been eliminated afterthe first determination unit determines the occurrence of the detectioncapability impaired state; and an actuation control unit that shortensan actuation time until implementing the vehicle control for avoiding ormitigating the collision, in comparison with a time when the detectionunit detects the object and the detection capability impaired state hasnot previously occurred, if the object is detected by the detection unitin which the detection capability impaired state has been eliminatedwithin a predetermined time after the second determination unitdetermines that the detection capability impaired state has beeneliminated, wherein, the plurality of the detection units includes afirst detection unit that detects the object around the own vehicle by areflected wave; and a second detection unit that detects the objectaround the own vehicle by an image processing of a captured image, thefirst determination unit determines that the first detection unit hasbeen in the detection capability impaired state if a first object and asecond object both having been in an approaching state are detected bythe image processing of the second detection unit, the seconddetermination unit determines that the detection capability impairedstate of the first detection unit has been eliminated if it is detectedthat the approaching states of the first object and the second objectare eliminated by the image processing of the second detection unit, andthe actuation control unit shortens the actuation time if the firstdetection unit detects the second object within the predetermined timeafter determining that the detection capability impaired state of thefirst detection unit has been eliminated, and does not shorten theactuation time if the first detection unit does not detect the secondobject within the predetermined time.
 20. The vehicle control apparatusaccording to claim 19, wherein, if a first detection range in which thefirst detection unit can detect the object differs from a seconddetection range in which the second detection unit can detect theobject, and if the first detection range is included within the seconddetection range, the first determination unit determines that the firstdetection unit has been in the detection capability impaired state ifthe second detection unit detects a third object outside the firstdetection range, the second determination unit determines that thedetection capability impaired state of the first detection unit has beeneliminated if the second detection unit detects the third object withinthe first detection range, and the actuation control unit shortens theactuation time if the first detection unit detects the third objectwithin the predetermined time after determining that the detectioncapability impaired state of the first detection unit has beeneliminated, and does not shorten the actuation time if the firstdetection unit does not detect the third object within the predeterminedtime.
 21. A vehicle control apparatus applied to a vehicle including aplurality of detection units detecting, in different fashions, an objectexisting around an own vehicle, and implementing vehicle control foravoiding or mitigating a collision with the object based on detectioninformation from the plurality of detection units, the vehicle controlapparatus comprising: a first determination unit that determines anoccurrence of a detection capability impaired state in which a detectioncapability for detecting the object is impaired at any of the detectionunits among the plurality of the detection units based on the detectioninformation from the detection unit or the other detection units; asecond determination unit that determines whether or not the detectioncapability impaired state has been eliminated after the firstdetermination unit determines the occurrence of the detection capabilityimpaired state; an actuation control unit that shortens an actuationtime until implementing the vehicle control for avoiding or mitigatingthe collision, in comparison with a time when the detection unit detectsthe object and the detection capability impaired state has notpreviously occurred, if the object is detected by the detection unit inwhich the detection capability impaired state has been eliminated withina predetermined time after the second determination unit determines thatthe detection capability impaired state has been eliminated; and asetting unit that variably sets the predetermined time depending on atype of the detection capability impaired state or the type of theobject.